Minimally invasive surgical instrument to provide needle-based therapy

Patent metadata

Field	Value
Publication number	US-10188470-B2
Application number	US-201815943511-A
Country	US
Kind code	B2
Filing date	Apr 2, 2018
Priority date	Feb 15, 2012
Publication date	Jan 29, 2019
Grant date	Jan 29, 2019

Abstract

A surgical instrument is provided that includes a first input mechanism having axial slots formed in a periphery and a second input mechanism having helical slots formed in a surface. The instrument also includes an insert having pins extending from a surface thereof, the insert coupled to the second input mechanism such that the one or more pins extend into the helical slots, and a surgical device coupled to an end. The surgical device is moved in a first degree of freedom in response to a mechanical driving force applied to both the first input mechanism and the second input mechanism, respectively, and the surgical device is moved in a second degree of freedom in response to a mechanical driving force applied to the second input mechanism while the first input mechanism is held stationary.

First claim

What is claimed is:

1. A minimally invasive surgical instrument, comprising:
a first input mechanism comprising a periphery and an axial slot in the periphery, wherein a first axial axis of rotation is defined for the first input mechanism;
a second input mechanism comprising a surface and a helical slot in the surface, wherein a second axial axis of rotation is defined for the second input mechanism, and wherein the second input mechanism surrounds the first input mechanism such that the second axial axis of rotation is coincident with the first axial axis of rotation;
an insert comprising a pin, wherein a third axial axis of rotation is defined for the insert, wherein the insert is surrounded by the first input mechanism such that the third axial axis of rotation is coincident with the first axial axis of rotation, and wherein the pin extends from the insert through the axial slot of the first input mechanism and into the helical slot of the second input mechanism; and
a needle coupled to an end of the first input mechanism.

2. The instrument of claim 1 , further comprising a surgical device extending axially through at least part of the needle.

3. The instrument of claim 2 , wherein the surgical device comprises at least one of a catheter, an injector, a biopsy probe, an optical biopsy probe, an ablation device, or a tissue sampling device, or a combination thereof.

4. The instrument of claim 1 , further comprising a surgical device extending axially through the insert and through at least part of the needle.

5. The instrument of claim 1 , further comprising:
a first driving mechanism coupled to the first input mechanism such that the first driving mechanism rotates the first input mechanism about the first axial axis of rotation; and
a second driving mechanism coupled to the second input mechanism such that the second driving mechanism rotates the second input mechanism about the second axial axis of rotation;
wherein the first driving mechanism rotates the first input mechanism about the first axial axis of rotation independently of the second driving mechanism rotating the second input mechanism about the second axial axis of rotation; and
wherein the second driving mechanism rotates the second input mechanism about the second axial axis of rotation independently of the first driving mechanism rotating the first input mechanism about the first axial axis of rotation.

6. The instrument of claim 5 , further comprising a catheter extending axially through at least part of the needle.

7. The instrument of claim 5 , further comprising a catheter coupled to the insert and extending axially through the insert and through at least part of the needle.

8. The instrument of claim 5 , further comprising a catheter coupled to the insert.

9. The instrument of claim 8 , wherein on the condition that the first and second input mechanisms rotate together about their associated axial axes of rotation, the catheter rotates about but does not translate along the third axial axis of rotation.

10. The instrument of claim 8 , wherein on the condition that the first input mechanism rotates around the first axial axis of rotation while the second input mechanism remains stationary, the catheter rotates about and translates along the third axial axis of rotation.

11. The instrument of claim 8 , wherein on the condition that the first input mechanism remains stationary while the second input mechanism rotates about the second axial axis of rotation, the catheter translates along but does not rotate about the third axial axis of rotation.

12. The instrument of claim 8 , wherein the catheter extends axially through at least part of the needle.

13. The instrument of claim 8 , wherein the catheter extends axially through the insert and through at least part of the needle.

14. The instrument of claim 8 , wherein:
the catheter comprises a surgical device; and
the surgical device comprises at least one of a mechanical biopsy probe, an optical biopsy probe, an ablation device, and a tissue sampling device, or a combination thereof.

15. The instrument of claim 1 , further comprising:
a plurality of electric pins; and
a microprocessor coupled to the electrical pins, wherein the microprocessor is configured to transmit information about the instrument to an external manipulator via the electrical pins.

16. The instrument of claim 15 , further comprising:
a catheter coupled to the first input mechanism, the catheter comprising a surgical device;
wherein the information comprises at least one of an identification number of the instrument, an identification of the surgical device, a length of the surgical device, or information describing how to move the first and second input mechanisms to obtain desired rotation and translation of the needle.

17. The instrument of claim 1 , further comprising an arrangement of fiducial markers, the fiducial markers configured to be identified by at least one of computer tomography (CT) scanning, magnetic resonance imaging (MRI) scanning, X-ray imaging, ultrasound imaging, or positron emission topography (PET) imaging.

18. The instrument of claim 1 , wherein the helical slot is formed on an interior surface of the second input mechanism, and the pin extends through an axial slot in the first input mechanism.

19. The instrument of claim 1 , wherein:
the insert is arranged concentrically within the first input mechanism; and
the first input mechanism and the insert are arranged concentrically within the second input mechanism.

20. The instrument of claim 1 , further comprising:
a housing enclosing the first input mechanism, the second input mechanism, and the insert;
wherein the housing comprises:
a hole at a first end, the hole arranged to be concentric with a surgical device coupled to the first input mechanism; and
a plurality of release levers arranged around a periphery of the housing.

Assignees

• Intuitive Surgical Operations

Inventors

• Bailey David W
• Dimaio Simon P

Classifications

• A61B2017/00331

  with preformed bends · CPC title

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B18/1477

  Needle-like probes · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title